cmake_minimum_required(VERSION 3.8)
project(local_navigation)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()


# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_lifecycle REQUIRED)
find_package(lifecycle_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(PCL REQUIRED)
find_package(pcl_conversions REQUIRED)

# Find JsonCpp
find_package(PkgConfig REQUIRED)
pkg_check_modules(JSONCPP REQUIRED jsoncpp)

# Include directories
include_directories(
  include
  ${JSONCPP_INCLUDE_DIRS}
  ${PCL_INCLUDE_DIRS}
)

# Add executable
add_executable(local_navigator
  src/local_navigator.cpp
)

# Link libraries
target_link_libraries(local_navigator
  ${PCL_LIBRARIES}
  ${JSONCPP_LIBRARIES}
)


# Ament target dependencies
ament_target_dependencies(local_navigator
  rclcpp
  rclcpp_lifecycle
  lifecycle_msgs
  geometry_msgs
  sensor_msgs
  std_msgs
  pcl_conversions
)

# Install targets
install(TARGETS local_navigator
  DESTINATION lib/${PROJECT_NAME}
)

install(DIRECTORY include/
  DESTINATION include
)


# 安装launch文件
install(DIRECTORY
  launch
  DESTINATION share/${PROJECT_NAME}/
)
# 安装配置文件
install(DIRECTORY
  config
  DESTINATION share/${PROJECT_NAME}/
)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()
